Direct adaptive control for nonlinear matrix second-order dynamical systems with state-dependent uncertainty

2001 ◽  
Author(s):  
V. Chellaboina ◽  
W.M. Haddad ◽  
T. Hayakawa
Keyword(s):  
Adaptive Control ◽  
Dynamical Systems ◽  
Second Order ◽  
Direct Adaptive Control ◽  
State Dependent ◽  
Nonlinear Matrix

Adaptive Control for Nonlinear Matrix Second-Order Systems With Sign-Varying Damping and Stiffness Operators

2001 ◽  
Author(s):  
VijaySekhar Chellaboina ◽  
Wassim M. Haddad ◽  
Tomohisa Hayakawa
Keyword(s):  
Adaptive Control ◽  
Closed Loop ◽  
Adaptive Controller ◽  
Second Order ◽  
Direct Adaptive Control ◽  
State Dependent ◽  
Control Framework ◽  
Nonlinear Matrix ◽  
System States ◽  
Second Order Systems

Abstract A direct adaptive control framework for a class of nonlinear matrix second-order dynamical systems with state-dependent uncertainty is developed. The proposed framework guarantees global asymptotic stability of the closed-loop system states associated with the plant dynamics without requiring any knowledge of the system nonlinearities other than the assumption that they are continuous and lower bounded. Generalizations to the case where the system nonlinearities are unbounded are also considered. In the special case of matrix second-order systems with polynomial nonlinearities with unknown coefficients and unknown order, we provide a universal adaptive controller that guarantees closed-loop stability of the plant states.

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